Sharp GP2 familly distance sensor library
Dependents: FRC_2018 0hackton_08_06_18 0hackton_08_06_18_publish Kenya_2019 ... more
Diff: GP2A.cpp
- Revision:
- 5:49fb7016797c
- Parent:
- 4:4f443a6a6843
diff -r 4f443a6a6843 -r 49fb7016797c GP2A.cpp --- a/GP2A.cpp Thu May 31 17:25:25 2018 +0000 +++ b/GP2A.cpp Sun Oct 13 13:35:59 2019 +0000 @@ -1,16 +1,17 @@ #include "GP2A.h" -GP2A::GP2A(PinName vmes, float dMin, float dMax, float slope) : _sensor(vmes) +GP2A::GP2A(PinName vmes, float dMin, float dMax, float slope, float origin) : _sensor(vmes) { m_dMin = dMin; m_dMax = dMax; m_slope = slope; + m_origin = origin; } double GP2A::getDistance (void) { double vDist = (double)_sensor.read()* 3.3; - float distance = m_slope/vDist; + float distance = m_slope/(vDist-m_origin); if (distance > m_dMax) return m_dMax; if (distance < m_dMin) return m_dMin; return distance;